Autonomous travel working vehicle

ABSTRACT

In order to adjust the sensitivity of an obstacle detection means and improve detection accuracy when an obstacle is actually present although the obstacle detection means detects no obstacle or when no obstacle is actually present although the obstacle detection means detects an obstacle, an autonomous travel working vehicle is provided with a position calculation means for measuring the position of a vehicle body using a satellite positioning system, and a control device for automatic travel and work along a set travel path. The autonomous travel working vehicle is provided with an obstacle sensor, an alarm means, and a false report switch, and if, although an obstacle has been detected and an alarm has been issued, an operator does not recognize the obstacle and activates the erroneous report switch, the control device cancels the alarm.

TECHNICAL FIELD

The present invention relates to an art that an obstacle detection meansis provided in an autonomously traveling work vehicle which can travelautonomously along a set traveling route using a satellite positioningsystem and detection accuracy of the obstacle detection means isimproved in the case that an obstacle exists actually though theobstacle detection means does not detect the obstacle and the case thatthe obstacle detection means does not detect an obstacle though theobstacle exists actually.

BACKGROUND ART

Conventionally, an art that an obstacle detection sensor detecting anobstacle is provided in an unmanned traveling vehicle, a standard valueis extended at the time of high speed traveling of the traveling vehicleso as to prevent a minor collision beforehand even when a stop distancefrom detecting the obstacle is extended, and the standard value isshortened at the time of low speed traveling such as turning so as notto detect a standing tree and the like around the turning is known (forexample, see the Patent Literature 1).

PRIOR ART REFERENCE Patent Literature

Patent Literature 1: the Japanese Utility Model Laid Open GazetteH05-43205

DISCLOSURE OF INVENTION Problems to be Solved by the Invention

However, an art that at the time of work with an autonomously travelingwork vehicle, in the case that an obstacle exists actually though theobstacle detection means does not detect the obstacle and the case thatthe obstacle detection means does not detect an obstacle though theobstacle exists actually, sensitivity of the obstacle detection means ischanged is not known.

The present invention is provided in consideration of the conditions asmentioned above, and provides an autonomously traveling work vehicle inwhich in the case that an obstacle exists actually though the obstacledetection means does not detect the obstacle and the case that theobstacle detection means does not detect an obstacle though the obstacleexists actually, sensitivity of the obstacle detection means is changedso as to improve detection accuracy.

Means for Solving the Problems

The problems to be solved by the present invention have been describedabove, and subsequently, the means of solving the problems will bedescribed below.

According to the present invention, in an autonomously traveling workvehicle including a position calculation means positioning a position ofa vehicle body by using a satellite positioning system, and a controldevice making the vehicle travel and work automatically along a settraveling route, an obstacle detection means, an alarm means and a falsenotification means are provided, and when an operator does notrecognizes an obstacle and the false notification means is operatedthough the obstacle is detected and an alarm is given, the controldevice cancels the alarm.

According to the present invention, when number of false notificationmade by the false notification means reaches a first set value, thecontrol device reduces sensitivity of the obstacle detection means.

According to the present invention, after reducing the sensitivity ofthe obstacle detection means, when the number of false notification madeby the false notification means reaches a second set value, the controldevice judges as sensor breakage and displays and notifies the breakage.

According to the present invention, in an autonomously traveling workvehicle including a position calculation means positioning a position ofa vehicle body by using a satellite positioning system, and a controldevice making the vehicle travel and work automatically along a settraveling route, an obstacle detection means, an alarm means and anotification failure notification means are provided, and at a time atwhich any alarm is not given though an obstacle exists in a detectionrange of the obstacle detection means, when an operator operates thenotification failure notification means, the control device gives analarm.

According to the present invention, when the obstacle detection meansdoes not detect any obstacle and sudden braking is performed, thecontrol device judges as notification failure. According to the presentinvention, when notification of the notification failure reaches a thirdset number, the control device raises sensor sensitivity.

According to the present invention, after raising the sensitivity of theobstacle detection means, when a notification failure notificationnumber reaches a fourth set number, the control device judges asbreakage and displays and notifies the breakage.

Effect of the Invention

According to the above means, the alarm means is prevented from beingoperated continuously by false notification, whereby the alarm means isprevented from being operated vainly. An obstacle can be treated by handquickly even when the autonomously traveling work vehicle cannot detectthe obstacle.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic side view of an autonomously traveling workvehicle, a

GPS satellite and a reference station.

FIG. 2 is a control block diagram.

FIG. 3 is a drawing of work state of the autonomously traveling workvehicle and an auxiliary moving work vehicle.

FIG. 4 is a drawing of a control area in a detection range of anobstacle detection means.

FIG. 5 is a flow chart of detection range correction control.

FIG. 6 is a flow chart of false notification control.

FIG. 7 is a flow chart of notification failure control.

DETAILED DESCRIPTION OF THE INVENTION

An embodiment in which an autonomously traveling work vehicle 1 whichcan travel autonomously by using a satellite positioning system is atractor and a rotary tilling device 24 is attached as a work machine toa rear part of the autonomously traveling work vehicle 1 is explained.The work vehicles are not limited to the tractors and may alternativelybe combines or the like. The work machines are not limited to the rotarytilling devices and may alternatively be furrowers, mowers, rakes,seeding machines, fertilizing machines, wagons or the like.

An entire configuration of the tractor which is the autonomouslytraveling work vehicle 1 is explained referring to FIGS. 1 and 2. Anengine 3 is provided in a bonnet 2, a dashboard 14 is provided in acabin 11 behind the bonnet 2, and a steering wheel 4 which is a steeringoperation means is provided on the dashboard 14. By rotating thesteering wheel 4, a direction of front wheels 9 is rotated via asteering device. A steering direction of the autonomously traveling workvehicle 1 is detected by a steering sensor 20. The steering sensor 20includes an angle sensor such as a rotary encoder and arranged at arotation base of the front wheels 9. A detection configuration of thesteering sensor 20 is not limited and any configuration which recognizesthe steering direction may alternatively be used. Rotation of thesteering wheel 4 may be recognized, or an operation amount of powersteering may be recognized. A detection value obtained by the steeringsensor 20 is inputted into a control device 30.

A seat 5 is disposed behind the steering wheel 4, and a transmissioncasing 6 is arranged below the seat 5. At left aid right sides of thetransmission casing 6, rear axle casings 8 are provided continuously,and rear wheels 10 are supported via axles by the rear axle casings 8.Power from the engine 3 is changed in speed by a transmission (a maintransmission and a sub transmission) in the transmission casing 6 andcan drive the rear wheels 10. For example, the transmission includes ahydraulic stepless transmission, and a movable swash plate of a variablecapacity hydraulic pump is operated by a speed change means 44 such as amotor so as to perform the speed change. The speed change means 44 isconnected to the control device 30. A rotation speed of the rear wheels10 is detected by a vehicle speed sensor 27, and inputted into thecontrol device 30 as a traveling speed. A detection method of thevehicle speed and an arrangement position of the vehicle speed sensor 27are not limited.

A PTO clutch, a PTO transmission and a brake device 46 are housed in thetransmission casing 6. The PTO clutch is engaged and disengaged by a PTOswitching means 45. The PTO switching means 45 is connected to thecontrol device 30 so as to control connection and disconnection of powertransmission to a PTO shaft. The brake device 46 is connected to thecontrol device 30 so as to perform braking by operation of an operatoror at the time of automatic traveling. The control device has a CPU(central processing unit), a storage device 30 m such as a RAM or a ROM,an interface and the like, and programs, data and the like for operatingthe autonomously traveling work vehicle 1 are stored in the storagedevice 30 m.

A front axle casing 7 is supported by a front frame 13 supporting theengine 3 and the front wheels 9 are supported at both sides of the frontaxle casing 7 so that power from the transmission casing 6 can betransmitted to the front wheels 9. The front wheels 9 are steeringwheels and turned by rotation operation of the steering wheel 4, and thefront wheels 9 can be steered laterally by a steering actuator 40including a power steering cylinder which is a steering driving means.The steering actuator 40 is connected to the control device 30 anddriven by automatic traveling control.

An engine controller 60 which is an engine rotation control means isconnected to the control device 30, and an engine rotation speed sensor61, a water temperature sensor, a hydraulic pressure sensor and the likeare connected to the engine controller 60 so as to detect a state of theengine. The engine controller 60 can detect a load from a set rotationspeed and an actual rotation speed and perform control so as to preventoverload, and can transmit the state of the engine 3 to a remote controldevice 112 discussed later so as to display the state of the engine 3 ona display 113.

In a fuel tank 15 below a step, a level sensor 29 detecting a level offuel is arranged and connected to the control device 30. In a displaymeans 49 provided in the dashboard of the autonomously traveling workvehicle 1, a fuel gauge displaying residual amount of fuel is providedand connected to the control device 30. Information about the fuelresidual amount is transmitted from the control device 30 to the remotecontrol device 112, and the fuel residual amount and workable time aredisplayed on the display 113 of the remote control device 112.

On the dashboard 14, the display means 49 displaying a rotation meter ofthe engine, the fuel gauge, a monitor displaying hydraulic pressure andabnormality, a set value and the like are arranged.

The rotary tilling device 24 is provided movably vertically as the workmachine behind a vehicle body of the tractor via a work machineattachment device 23 so as to perform tilling work. A lifting cylinder26 is provided on the transmission casing 6, and by extending andcontracting the lifting cylinder 26, a lifting arm constituting the workmachine attachment device 23 is rotated so as to move the rotary tillingdevice 24 vertically. The lifting cylinder 26 is extended and contractedby a lifting actuator 25, and the lifting actuator 25 is connected tothe control device 30.

A mobile communication device 33 constituting a satellite positioningsystem is connected to the control device 30. A mobile GPS antenna 34and a data reception antenna 38 are connected to the mobilecommunication device 33, and the mobile GPS antenna 34 and the datareception antenna 38 are provided on the cabin 11. The mobilecommunication device 33 has a position calculation means and cantransmit latitude and longitude to the control device 30 so as to graspan actual position. In addition to a GPS satellite (America), by using aglobal navigation satellite system (GNSS) such as a quasi-zenithsatellite (Japan) and a GLONASS satellite (Russia), more accuratepositioning can be performed. However, this embodiment is explained withthe GPS satellite.

A gyro sensor 31 for obtaining information about change of posture ofthe vehicle body and an azimuth sensor 32 for detecting a travelingdirection are provided in the autonomously traveling work vehicle 1 andconnected to the control device 30. The azimuth sensor 32 can be omittedbecause the traveling direction can be calculated by positionmeasurement of the GPS.

The gyro sensor 31 detects an angle speed of inclination in alongitudinal direction of the autonomously traveling work vehicle 1(pitch), an angle speed of inclination in a lateral direction thereof(roll) and an angle speed of turning thereof (yaw). By integrating thethree angle speeds, the inclination angles in the longitudinal directionand the lateral direction and the turning angle of the autonomouslytraveling work vehicle 1 can be found. As a concrete example of the gyrosensor 31, a mechanical gyro sensor, an optical gyro sensor, a fluidtype gyro sensor, a vibration type gyro sensor and the like arementioned. The gyro sensor 31 is connected to the control device 30 andinputs information about the three angle speeds to the control device30.

The azimuth sensor 32 detects a direction of the autonomously travelingwork vehicle 1 (traveling direction). As a concrete example of theazimuth sensor 32, a magnetic azimuth sensor and the like are mentioned.The azimuth sensor 32 is connected to the control device 30 and inputsinformation about the direction of the vehicle body to the controldevice 30.

As the above, the control device 30 calculates signals obtained from thegyro sensor 31 and the azimuth sensor 32 by a posture-azimuthcalculation means so as to find the posture of the autonomouslytraveling work vehicle 1 (the direction of the vehicle body, theinclination in the longitudinal direction and the lateral direction, andthe turning direction).

Next, a method obtaining position information of the autonomouslytraveling work vehicle 1 by the GPS (global positioning system) isexplained.

The GPS is a system developed originally for navigation support of anairplane, a ship and the like, and includes twenty four GPS satellites(four satellites in each of six raceway surfaces) going around at analtitude of about 20,000 km, a control station pursuing and controllingthe GPS satellites, and a communication device of an user forpositioning.

As a positioning method using the GPS, various methods such asindependent positioning, relative positioning, DGPS (differential GPS)positioning and RTK-GPS (real time kinematic GPS) positioning arementioned, and either of these methods can be used. In this embodiment,a RTK-GPS positioning method (first satellite positioning system) withhigh accuracy is adopted, and the method is explained referring FIGS. 1and 2.

The RTK-GPS (real time kinematic GPS) positioning is a method that GPSobservation is performed simultaneously at a reference station whoseposition is known and a mobile station whose position is to be found,data observed at the reference station is transmitted to the mobilestation on real time by a method such as wireless communication, and theposition of the mobile station is found on real time based on positionalresults of the reference station.

In this embodiment, the mobile communication device 33, the mobile GPSantenna 34 and the data reception antenna 38 constituting the mobilestation are arranged in the autonomously traveling work vehicle 1, and afixed communication device 35, a fixed GPS antenna 36 and a datatransmission antenna 39 constituting the reference station are disposedat a predetermined position not being obstacle of work in the field. Inthe RTK-GPS (real time kinematic GPS) positioning of this embodiment,measurement of a phase (relative positioning) is performed at both thereference station and the mobile station, and data positioned by thefixed communication device 35 of the reference station is transmittedfrom the data transmission antenna 39 to the data reception antenna 38.

The mobile GPS antenna 34 arranged in the autonomously traveling workvehicle 1 receives signals from GPS satellites 37. The signals aretransmitted to the mobile communication device 33 and positioned.Simultaneously, the signals from GPS satellites 37 are received by thefixed GPS antenna 36 which is the reference station, positioned by thefixed communication device 35 and transmitted to the mobilecommunication device 33, and the measured data are analyzed so as todetermine the position of the mobile station. The position informationobtained as the above is transmitted to the control device 30.

Accordingly, the control device 30 of the autonomously traveling workvehicle 1 has an automatic traveling means traveling automatically. Theautomatic traveling means receives electric waves transmitted from theGPS satellites 37, finds the position information of the vehicle body atset time intervals in the mobile communication device 33, and findsdisplacement information and azimuth information of the vehicle bodyfrom the gyro sensor 31 and the azimuth sensor 32, and controls thesteering actuator 40, the speed change means 44, the lifting actuator25, the PTO switching means 45, the brake device 46, the enginecontroller 60 and the like so as to make the vehicle body travel along aset route R set previously based on the position information and theazimuth information, thereby working automatically. Position informationof an outer perimeter of a field H which is a work range is setpreviously by a known method and stored in the storage device 30 m.

An obstacle sensor 41 and a camera 42 as an obstacle detection means arearranged in the autonomously traveling work vehicle 1 and connected tothe control device 30 so as to prevent contact with obstacle. Forexample, the obstacle sensor 41 includes an infrared sensor or anultrasonic sensor, arranged at front, side or rear part of the vehiclebody and connected to the control device 30 so as to detect whetherobstacle exists before, beside or behind the vehicle body. When theobstacle is detected, control is performed so that an alarm is given andtraveling speed is reduced or stopped. Details are described later.

On a roof of the autonomously traveling work vehicle 1, the camera 42photting the work machine is mounted and connected to the control device30. An image photted by the camera 42 is displayed on the display 113 ofthe remote control device 112 provided in an auxiliary moving workvehicle 100.

The remote control device 112 sets the set traveling route R of theautonomously traveling work vehicle 1, controls the autonomouslytraveling work vehicle 1 remotely, supervises traveling state of theautonomously traveling work vehicle 1 and operation state of the workmachine, and stores work data.

In this embodiment, an operator rides on and operates the auxiliarymoving work vehicle 100, and the remote control device 112 is mounted onthe auxiliary moving work vehicle 100 so as to operate the autonomouslytraveling work vehicle 1. As shown in FIG. 3, the auxiliary moving workvehicle 100 travels obliquely backward the autonomously traveling workvehicle 1 while working so as to supervise and operate the autonomouslytraveling work vehicle 1. The auxiliary moving work vehicle 100 is notlimited thereto and may alternatively travel behind the autonomouslytraveling work vehicle 1 while working corresponding to a work mode. Anexplanation of a basic configuration of the auxiliary moving workvehicle 100 is omitted because it is substantially the same as theautonomously traveling work vehicle 1. The auxiliary moving work vehicle100 may have the mobile communication device 33 for the GPS and themobile GPS antenna 34.

The remote control device 112 can be attached to and detached from anoperation part such as a dashboard of the auxiliary moving work vehicle100 and the autonomously traveling work vehicle 1. The remote controldevice 112 can be operated while being attached to the dashboard of theauxiliary moving work vehicle 100, can be taken out from the auxiliarymoving work vehicle 100 and operated while being carried, or can beoperated while being attached to the dashboard of the autonomouslytraveling work vehicle 1. For example, the remote control device 112 canbe configured by a note-type or tablet-type personal computer. In thisembodiment, a tablet-type personal computer is used.

Furthermore, the remote control device 112 and the autonomouslytraveling work vehicle 1 can be communicated with each other on radio,and transceivers 110 and 111 for the communication are providedrespectively in the autonomously traveling work vehicle 1 and the remotecontrol device 112. The transceiver 111 is configured integrally withthe remote control device 112. For example, the communication means canbe communicated with each other by wireless LAN such as WiFi. In asurface of a casing of the remote control device 112, the display 113which is a touch panel-type operation screen which can be operated bytouching the screen is provided, and the transceiver 111, a controldevice 130 (CPU and storage device), a battery and the like are housedin the casing.

The autonomously traveling work vehicle 1 can be operated remotely bythe remote control device 112. For example, sudden stop, temporary stop,restart, speed change, change of engine rotation speed, verticalmovement of the work machine, engagement and disengagement of the PTOclutch and the like of the autonomously traveling work vehicle 1 can beoperated. Namely, an accelerator actuator, the speed change means 44,the brake device 46, the PTO switching means 45 and the like arecontrolled by the remote control device 112 via the transceiver 111, thetransceiver 110 and the control device 30 so that an operator canoperate the autonomously traveling work vehicle 1 remotely easily.

An image of the surrounding photted by the camera 42, state of theautonomously traveling work vehicle 1, state of work, information aboutthe GPS, the operation screen and the like can be displayed on thedisplay 113 so as to be supervised by an operator.

The autonomously traveling work vehicle 1 is traveling state, state ofthe engine, state of the work machine and the like. The traveling stateis a speed change position, vehicle speed, fuel residue, battery voltageand the like. The state of the engine is engine rotation speed, loadratio and the like. The state of the work machine is type of the workmachine, PTO rotation speed, height of the work machine and the like.These are displayed on the display 113 respectively by numerals, levelmeters and the like.

The state of the work is a work route (a target route or the settraveling route R), a work process, an actual position, a distance to aheadland calculated from the process, a remaining route, number ofprocesses, work time until now, remaining work time and the like. Theremaining route can be recognized easily by filling a route workedalready in the whole work route. By showing a next process from theactual position by an arrow, a next process such as a turning directionfrom the actual can be recognized easily.

The information about the GPS is longitude and latitude which is theactual position of the autonomously traveling work vehicle 1, number ofgrasped satellites, reception radio wave intensity, abnormality of anavigation system, and the like.

Next, sensitivity correction of the obstacle detection means isexplained.

The control device 30 has a mode switching means 30 a and a sensitivityadjustment means 30 b.

The obstacle sensor 41 which is the obstacle detection means isconnected to the control device 30, and sensitivity of the obstaclesensor 41 can be changed by the sensitivity adjustment means 30 b. Theobstacle sensor 41 includes an optical sensor or an ultrasonic sensorand detects an obstacle by detecting light or sound touching theobstacle and reflected.

The obstacle sensor 41 is provided in each of front and rear parts ofthe vehicle body of the autonomously traveling work vehicle 1. Forexample, the obstacle sensor 41 provided in the front part of thevehicle body is attached to a front surface of the bonnet 2 and detectsan obstacle at the time of forward traveling. The obstacle sensor 41provided in the rear part of the vehicle body is attached to a rearsurface of a fender and detects an obstacle at the time of rearwardtraveling.

Sensitivity adjustment of the obstacle sensor 41 attached to the frontpart of the vehicle body is explained referring to FIG. 3.

The obstacle sensor 41 detects whether an obstacle such as a person oran object exists in a predetermined detection range K before theautonomously traveling work vehicle 1 or not. The detection range K isadjusted by the sensitivity adjustment means 30 b corresponding to atraveling position in a set work area. Namely, the sensitivity of theobstacle sensor 41 is adjusted by the sensitivity adjustment means 30 bso that the sensitivity is high in the set work area and low out of theset work area. By setting the field H as the set work area, a smallobstacle is responded sensitively and attention is called to an operatorat the time of traveling in the field H, and any obstacle is notdetected at the time of detecting out of the field H.

The detection range K of the obstacle sensor 41 is wide at a center ofthe field H which is the set work area and becomes small toward an outerperimeter of the field H. Concretely, the detection range K is afan-like shape whose radial distance (detection distance) is L and whoselateral angle is a. A detection width D in a lateral direction from alateral center of the vehicle body is found from D=L sin(α/2). At thetime of traveling in a center of the field H, the detection distance Lis a maximum length L1 and the lateral detection width D is a maximumlateral detection width D1. The detection distance L is reducedgradually (L2) toward an edge of the field H, and any obstacle out ofthe set work area is not detected. Namely, the obstacle sensor 41 isadjusted by the sensitivity adjustment means 30 b so that thesensitivity is reduced toward the edge of the field. Since the set workarea is set by using the global navigation satellite system beforestarting the work, a distance to the edge of the field H (the perimeterof the field H) is calculated from the map data and the set travelingroute R set before starting the work, and when a distance between afront end of the autonomously traveling work vehicle 1 and the edge ofthe field is not more than the maximum length L1, the detection range Kof the obstacle sensor 41 is adjusted to the distance to the edge of thefield by the sensitivity adjustment means 30 b. The lateral detectionwidth D is made narrow so as not to detect any obstacle out of the setwork area at the time of traveling in a ridge edge. The sensitivityadjustment is not limited and may alternatively be performed by changingand correcting a standard level of a detected value.

Sensitivity adjustment control is explained referring to a flow chart ofFIG. 5. A distance A from the front end of the vehicle body to theforward edge of the field is calculated (S1), and the distance A to theedge of the field is compared with the maximum length L1 of the obstaclesensor 41 (S2). When the distance A to the edge of the field is longerthan the maximum length L1, the detection distance L is maintained atthe maximum length L1 (S3) and the control is shifted to a step S4. Whenthe distance A is shorter than the maximum length L1, the detectiondistance L is adjusted to the distance A to the edge of the field by thesensitivity adjustment means 30 b (S5) and the control is shifted to thestep S4.

In the step S4, a distance B from a center of the vehicle body to a sideridge edge is calculated (S4). The distance B to the side ridge edge iscompared with the maximum lateral detection width D1 (S6). When thedistance B to the side ridge edge is longer than the maximum lateraldetection width D1, the lateral detection width D is maintained at themaximum lateral detection width D1 (S7). When the distance B to the sideridge edge is shorter than the maximum lateral detection width D1, thelateral detection width D is set to the distance B to the side ridgeedge (S8).

However, since an actual work area is not rectangular and istrapezoid-like with distortion, a certain amount of a permissible rangecan be provided. Though the detection range K of the obstacle sensor 41is reduced gradually to the edge of the field, it may be reduced step bystep. The detection range K may be reduced to a predetermined smallrange when the autonomously traveling work vehicle 1 enters apredetermined range near the outer perimeter of the field H (forexample, headland turning range).

As the above, in the autonomously traveling work vehicle 1 having theposition calculation means positioning the position of the vehicle bodyby using the satellite positioning system and the control device 30making the vehicle travel and work automatically along the set travelingroute R, the obstacle sensor 41 which is the obstacle detection meansdetecting whether an obstacle exists near the autonomously travelingwork vehicle 1 and the sensitivity adjustment means 30 b adjusting thesensitivity of the obstacle sensor 41. The sensitivity of the obstaclesensor 41 is adjusted to be high in the set work area and low out of theset work area by the sensitivity adjustment means 30 b. Accordingly, anobstacle is detected widely and attention is called to an operator atthe time of traveling in the field H, and any obstacle is not detectedwhen the detection range K is out of the field H, whereby misdetectioncan be reduced so as to improve workability.

The control device 30 adjusts the sensitivity by the sensitivityadjustment means 30 b so as to make the detection range K of theobstacle sensor 41 is in the set work area. Accordingly, even when anobstacle exists in the ridge, the field H or a road out of the workarea, the obstacle sensor 41 does not detect the obstacle so as not togive alarm and stop the traveling and the work, whereby detectionaccuracy is improved and the work can be performed in the ridge edge soas to prevent reduction of work efficiency.

The control device 30 adjusts the sensitivity by the sensitivityadjustment means 30 b so that the detection range K is wide in a centerof the work area and becomes small toward the outer perimeter of thework area. Accordingly, an obstacle is responded sensitively anddetected certainly in the set work area and any obstacle out of the workarea is not detected even near the edge of the field, whereby the workcan be performed certainly to the edge of the field without stopping thetraveling.

An optical sensor 71, an outside air temperature sensor 72 and a raindetection sensor 73 as an environmental recognition means are connectedto the control device 30. Weather is judged corresponding to detectionvalues from the optical sensor 71, the outside air temperature sensor 72and the rain detection sensor 73, and the sensitivity of the obstaclesensor 41 is changed by the sensitivity adjustment means 30 bcorresponding to the weather, whereby misdetection can be prevented soas to improve detection accuracy of the obstacle sensor 41 regardless ofthe weather.

For example, when illumination detected by the optical sensor 71 is notless than set illumination, direct rays are judged to reach the obstaclesensor 41 and the misdetection may be caused. Then, when theillumination detected by the optical sensor 71 is not less than the setillumination, the control device 30 is switched to a direct ray mode bythe mode switching means 30 a and the sensitivity is reduced by thesensitivity adjustment means 30 b.

In the case in which a person can be detected by the obstacle sensor 41,when outside air temperature is low, temperature of clothes and skin ofthe person is low and the sensitivity of the obstacle sensor 41 issubstantially reduced, whereby the person may be undetectable. Then,when the temperature detected by the outside air temperature sensor 72is not more than set temperature, the control device 30 is switched to alow temperature mode by the mode switching means 30 a and thesensitivity of the obstacle sensor 41 is raised by the sensitivityadjustment means 30 b. Accordingly, detection accuracy of the person isimproved.

At the time of raining, the obstacle sensor 41 may detect raindrops.Then, when rain is detected by the rain detection sensor 73, the controldevice 30 reduces the sensitivity by the sensitivity adjustment means 30b so as to eliminate influence of the rain. Furthermore, when adetection value from the rain detection sensor 73 is not less than a setvalue of rain, the work is impossible, and when a detection value of theoutside air temperature sensor 72 is not more than the set temperatureand the rain is detected, it is judged to be snowing and the work cannotbe performed, whereby the work is not permitted.

Though the optical sensor 71, the outside air temperature sensor 72 andthe rain detection sensor 73 are used as the environmental recognitionmeans for recognizing the environment (weather), an operator mayalternatively input directly illumination, outside air temperature andrainfall. It may be configured that weather information is read directlyinto the control device 30 via internet or the like. Since theinformation from the internet concerns wide range, it may not rain at anactual position and a weather report may be off, whereby correction ispreferably performed with detection by the rain detection sensor 73.

When the illumination detected by the optical sensor 71 is not more thanthe set illumination, it is judged to be night. When the work isperformed at night, light of a head light of a car traveling on a roadmay reach the obstacle sensor 41. In this case, difference ofillumination between the time at which the head light strikes the sensorand the time at which the head light does not strike is large, wherebymisdetection may occur. Then, when the illumination detected by theoptical sensor 71 is not more than the set illumination, the controldevice 30 is switched to a head light mode (or night mode) by the modeswitching means 30 a so that a detection value not less than the setillumination is filtered and only a detection value not more than theset illumination is obtained, whereby disturbance caused by the headlight, nighttime illumination or the like is removed.

In the storage device 30 m provided in the control device 30, work time,the set work area, environment (day and night and weather) at the timeof the work, and history of the sensitivity adjustment at that time arestored and can be displayed optionally. Accordingly, before starting thework, whether state of the rain or the outside air temperature at thepaste work in agreement with the actual state exists or not is searched,and when the state in agreement exists, data of the state is read outand whether sensitivity adjustment is performed suitably or not isexamined so as to adopt suitable sensitivity adjustment, wherebyefficient work can be performed.

Next, processes of the control device 30 in the case in which anyobstacle dose not exists though the obstacle sensor 41 detects anobstacle and alarm is given (hereinafter, referred to as “falsenotification”) and in the opposite case in which the obstacle sensor 41does not detect any obstacle and alarm is not given though an obstacleexists actually (hereinafter, referred to as “notification failure”) areexplained. Though an embodiment of the obstacle sensor 41 including anultrasonic sensor and detecting the obstacle by a reflective wave isexplained, the obstacle may be detected by combination of an imagesensor (camera), an infrared sensor and the like.

The process of the false notification is explained.

A false notification switch 76 as a false notification means is providedin the remote control device 112 (see FIG. 2), and the falsenotification switch 76 is connected to the control device 130 of theremote control device 112. The arrangement position of the falsenotification switch 76 is not limited to the remote control device 112and may alternatively be an operation part near the seat of theauxiliary moving work vehicle 100 or the autonomously traveling workvehicle 1.

When the obstacle sensor 41 detects an obstacle, alarm sound is givenfrom a speaker 51 as an alarm means and the display means 49 and thedisplay 113 display that the obstacle exists. However, when the obstaclesensor 41 detects the obstacle and gives an alarm, an operatorperforming confirmation actually may not recognize the obstacle. In thiscase, the operator turns on the false notification switch 76. By turningon the false notification switch 76, the control device 130 (or thecontrol device 30) judges that it is false notification, and the controldevice 130 of the remote control device 112 displays the falsenotification on the display 113 and simultaneously the alarm from thespeaker 51 is canceled via the transceiver 111, the transceiver 110 ofthe autonomously traveling work vehicle 1 and the control device 30.Accordingly, a useless alarm is prevented and noise caused by the alarmsound is abolished. The alarm means is not limited to the speaker 51 andmay alternatively be a buzzer, a horn or the like.

When the control device 130 judges as the false notification, date,weather (including temperature, humidity, and atmospheric pressure), aposition, contents of work and the like are stored in the storage device30 m and can be made into a database with a host computer or the like.It may alternatively be configured that the host computer iscommunicable with the control device 130 (or the control device 30), andwhen the contents at the time of the false notification is received bythe host computer, the contents are compared with past data, and whenthe contents are in agreement with the past data and there is an examplethat judgment standard of the false notification is changed, thejudgment standard is adopted, whereby control is performed with optimaljudgment standard so as to reduce the false notification.

For example, when an obstacle is detected by a camera image, thejudgment standard can be adjusted corresponding to light state in theevening and direction of the work machine.

When the work is continued further, and any obstacle does not existactually though the obstacle sensor 41 detects an obstacle and gives analarm, the operator turns on the false notification switch 76, and thedisplay is performed and the alarm is given similarly to the above. Whenthe misdetection by the obstacle sensor 41 occurs further and a numberof the false notification made by the false notification switch 76reaches a first set number N1, the sensitivity of the obstacle sensor 41is reduced for a predetermined level by the sensitivity adjustment means30 b so as to prevent sensitive detection. The level of reduction of thesensitivity can be set optionally. Accordingly, the sensitivityadjustment is performed automatically so as to prevent frequentoccurrence of the false notification.

Subsequently, in the case in which the work is continued while thesensitivity of the obstacle sensor 41 has been reduced, when themisdetection by the obstacle sensor 41 occurs and the number of thefalse notification made by the false notification switch 76 reaches asecond set number N2, it is judged that the obstacle sensor 41 isbroken, and the breakage is displayed by the display means 49 and thedisplay 113 so as to be recognized by the operator, and the occurrenceof the breakage is notified via an internet circuit or the like to aplace such as a store or a service station to which repair can berequested. It may alternatively be configured that the control reducingthe sensitivity of the obstacle sensor 41 is performed several times andsubsequently the notification is performed. Accordingly, judgment of thebreakage is performed automatically and the notification of the breakageis also performed automatically.

Concrete control concerning the false notification is explainedreferring to a flow chart of FIG. 6.

Firstly, a flag is set to 0 and it is set a false notification numbern=0 (S101). Whether the obstacle sensor 41 detects an obstacle or not isjudged (S102). When the obstacle sensor 41 detects the obstacle, analarm is given and displayed (S103). When the obstacle is lost or acancel switch 75 is operated or not is judged (S104), and when the alarmand the display is canceled (S105), the control returns to the stepS102. Since the alarm is not canceled and the false notification switch76 is pushed when misdetection occurs in the step S104, whether thefalse notification switch 76 is operated or not is judged (S106). Whennot operated, the control returns to the step S104. When operated, thealarm and the display are canceled (S107) and the false notificationnumber n is set to be n+1 (S108). When this false notification is afirst false notification, it is set n=1. Next, whether the flag is 1 ornot is judged. Namely, since the flag is set when the sensitivity isreduced, whether the flag is 1 or not is judged (S109), and when theflag is not 1 (normal detection not reducing the sensitivity), whetherthe false notification number n is not less than the first set number N1or not is judged (S110). When the false notification number n is lessthan N1, the control returns to the step S102. When the falsenotification number n is not less than the first set number N1, thesensitivity of the obstacle sensor 41 is reduced for the predeterminedlevel (S111) and the false notification number n is set 0 (reset)(S112), the flag 1 is set (S113) and the control shifts to the stepS102.

In the step S109, since the sensitivity is reduced when the flag is 1,the control shifts to a step S114 and whether the false notificationnumber n is more than the second set number N2 or not is judged. Whenthe false notification number n is not more than the second set numberN2, the control shifts to the step S102. When the false notificationnumber n is more than the second set number N2, it is judged that theobstacle sensor 41 is broken, and the breakage is displayed (S115) andnotified to a store or the like (S116).

Next, the process of the notification failure is explained.

A notification failure switch 77 as a notification failure notificationmeans is provided in the remote control device 112, and the notificationfailure switch 77 is connected to the control device 130. An emergencystop button 78 for emergency stop of the autonomously traveling workvehicle 1 is provided in the remote control device 112 as thenotification failure notification means and connected to the controldevice 130. The arrangement position of the notification failure switch77 and the emergency stop button 78 is not limited to the remote controldevice 112 and may alternatively be the operation part near the seat ofthe auxiliary moving work vehicle 100 or the autonomously traveling workvehicle 1. The emergency stop is stop of the engine 3 so as to madetraveling and work impossible.

At the time of forward traveling work, when though an operatorrecognizes an obstacle by looking in the detection range of the obstaclesensor 41 at a front side of the autonomously traveling work vehicle 1at the time of forward traveling work (at a rear side thereof at thetime of rearward traveling work), the obstacle sensor 41 does not detectthe obstacle and does not give any alarm and any display, the operatorturns on the notification failure switch 77. By turning on thenotification failure switch 77, the notification failure is displayed onthe display 113 by the control device 130 of the remote control device112, and simultaneously the alarm from the speaker 51 is canceled viathe transceiver 111, the transceiver 110 of the autonomously travelingwork vehicle 1 and the control device 30 so as to stop the traveling andthe work. Accordingly, collision with the obstacle is abolished. In thecase in which though an obstacle exists, the obstacle sensor 41 does notdetect the obstacle and does not give any alarm, when the emergency stopbutton 78 is pushed, the control device 130 also judges that thenotification failure occurs. When the obstacle is judged to exist andthe alarm is given though no obstacle exists in the detection range ofthe obstacle sensor 41, breakage occurs.

When the work is continued further, and though an obstacle exists, theobstacle sensor 41 does not detect the obstacle and does not give anyalarm, the operator turns on the notification failure switch 77(including the emergency stop button 78) so as to stop the traveling andgive the alarm and the display similarly to the above. When notificationfailure number which is number of operation of the notification failureswitch 77 caused by the notification failure reaches a third set numberN3, the sensitivity of the obstacle sensor 41 is raised for apredetermined level by the sensitivity adjustment means 30 b so as tomake sensitive. The level of raising of the sensitivity can be setoptionally. Accordingly, the sensitivity adjustment is performedautomatically so as to prevent frequent occurrence of the notificationfailure.

Similarly to the false notification, when the control device 130 judgesas the notification failure, date, weather (including temperature,humidity, and atmospheric pressure), a position, contents of work andthe like are stored in the storage device 30 m and can be made into adatabase with the host computer or the like. It may alternatively beconfigured that when the contents at the time of the notificationfailure is received by the host computer, the contents are compared withpast data, and when the contents are in agreement with the past data andthere is an example that judgment standard of the notification failureis changed, the judgment standard is adopted, whereby control isperformed with optimal judgment standard so as to reduce thenotification failure.

In the case in which the work is continued further while the sensitivityof the obstacle sensor 41 is raised, when misdetection by the obstaclesensor 41 occurs and notification failure notification number by thenotification failure switch 77 reaches a fourth set number N4, it isjudged that the obstacle sensor 41 is broken, and the breakage isdisplayed by the display means 49 and the display 113 so as to berecognized by the operator, and the occurrence of the breakage isnotified via the internet circuit or the like to the place such as thestore or the service station to which repair can be requested. It mayalternatively be configured that the control reducing the sensitivity ofthe obstacle sensor 41 is performed several times. Accordingly, judgmentof the breakage is performed automatically and the notification of thebreakage is also performed automatically.

Concrete control concerning the notification failure is explainedreferring to a flow chart of FIG. 7.

Firstly, a flag is set to 0 and it is set a notification failure numberm=0 (S201). Whether an operator operates the notification failure switch77 (or the emergency stop button 78) or not is judged (S202). When thenotification failure switch 77 is operated, the alarm and the displayare performed, the vehicle is stopped (S203), and the notificationfailure number m is set m+1 (S204). Next, whether the flag is 1 or not,that is, whether the sensitivity is raised or not is judged (S205), andwhen the flag is not 1 (the sensitivity is not raised), whether thenotification failure number m is not less than the third set number N3or not is judged (S206). When the notification failure number m is lessthan the third set number N3, the control returns to the step S202. Whenthe notification failure number m is not less than the third set numberN3, the sensitivity of the obstacle sensor 41 is raised for thepredetermined level (S207) and the notification failure number m n isreset (S208), the flag 1 is set (S209) and the control shifts to thestep S202.

In the step S205, since the sensitivity is raised when the flag is 1,the control shifts to a step S210 and whether the notification failurenumber m is more than the fourth set number N4 or not is judged. Whenthe notification failure number m is not more than the fourth set numberN4, the control shifts to the step S202. When the notification failurenumber m is more than the fourth set number N4, it is judged that theobstacle sensor 41 is broken, and the breakage is displayed (S211) andnotified to a store or the like (S212).

Next, an art for detecting a person by the obstacle sensor 41 and thecamera 42 and avoiding collision of the autonomously traveling workvehicle 1 and the person when the person is detected is explained. Aperson detection sensor 70 includes the obstacle sensor 41, the camera42, a distance sensor 74 detecting distance to the person and the like.

At the time of working while traveling autonomously in the field H whichis the set work area, when the person detection sensor 70 detects aperson in a first range E1 (FIG. 4), the control device 30 gives firstalarm sound by the speaker 51 and gives display by the display means 49and the display 113 and simultaneously stop the traveling. Namely, whena person runs from the autonomously traveling work vehicle 1 into thefirst range E1, sudden stop is performed automatically, the first alarmsound is given, and the sudden stop is displayed by the display means 49and the display 113. The first alarm sound is comparatively loud, hashigh frequency and is audible to the circumference. A means for thesudden stop is stopping the engine 3 by the engine controller 60, makingthe speed change means 44 neutral so as to breaking or the like, and themethod is not limited. In the case of traveling out of the field ortraveling not autonomously, this collision avoiding control by theperson detection is not performed and another collision avoiding controlis performed.

The first range E1 is a range of the fan-like shape whose diameter is alongest distance e1 from detecting a person to stopping traveling of thevehicle body in the case in which the autonomously traveling workvehicle 1 travels at work speed. Namely, the diameter length e1 which isthe longest distance is a longest distance of a length is a sum of afree running distance from detecting a person running into the firstrange E1 by the person detection sensor 70 to giving a stop signal andoperating a braking device and a speed change means and a distance frombraking to slipping and stopping. In other words, the first range E1 isa range in which a possibility of collision with a person exists thoughentering of the person is detected at the time of traveling at the workspeed and the sudden stop is performed.

At the time of working while traveling autonomously in the field H, whenthe person detection sensor 70 detects a person in a second range E2further than the first range E1, the control device 30 gives secondalarm sound by the speaker 51 and reduces traveling speed. Namely, whena person enters the second range E2 further than the first range E1, thespeed change means 44 is shifted automatically to a reduction side (inthe case of traveling at a first stage, engine rotation speed is reducedby the engine controller 60) so as to reduce traveling speed and givesthe second alarm sound. Volume and frequency of the second alarm soundare respectively smaller and lower than those of the first alarm soundso as to make recognition of approach of the autonomously traveling workvehicle 1 easy though it is not more urgent than the first range E1. Thealarm sound may be intermittent sound.

The second range E2 is further than the first range E1 and nearer than athird range E3. The third range E3 is a range removing a range of afan-like shape whose diameter is a longest distance e2 from detecting aperson to stopping traveling of the vehicle body in the case in whichthe autonomously traveling work vehicle 1 travels at on-road travelingspeed (high speed) from a range of a fan-like shape whose diameter is alongest distance e3 at which the person detection sensor 70 can detect aperson. In other words, it is a range in which the vehicle can bestopped freely without colliding a person can be avoided when the persondetection sensor 70 detects the person entering the second range E2 andsudden stop is performed. Accordingly, in the case of traveling at thework speed, by reducing the speed and giving the second alarm sound whenthe person is detected in the second range E2, the person entering thesecond range E2 can feel danger and avoid collision easily. When aperson enters the first range E1, sudden stop is performed naturally andcollision is avoided.

At the time of working while traveling autonomously in the field H, whenthe person detection sensor 70 detects a person in the third range E3further than the second range E2, the control device 30 gives a thirdalarm by the speaker 51 and attracts attention to the person. Namely,when a person goes from the autonomously traveling work vehicle 1 intothe third range E3 further than the second range E2, the third alarm isgiven so as to make the person recognize approach of the autonomouslytraveling work vehicle 1. The third alarm may sound notifying theapproach by the speaker 51, rumbling of a horn or lighting of a light soas to attract attention.

The third range E3 is a range removing the first range E1 and the secondrange E2 from a range in which the person detection sensor 70 can detecta person. Namely, it is a range further than the second range E2 and inwhich a person can be detected. In other words, it is a range in which aperson can perform avoidance action freely.

As the above, when the person detection sensor 70 detects a person inthe third range E3 further than the second range E2, the control device30 gives an alarm and attracts attention to the person. Accordingly, inthe case in which a worker recognizing that the autonomously travelingwork vehicle 1 is operated performs other agricultural work in the fieldH or the like, approach of the autonomously traveling work vehicle 1 canbe recognized easily and collision avoiding action can be performedsuitably.

When the person detection sensor 70 detects a person in the first rangeE1, the second range E2 or the third range E3, an alarm is given anddisplayed on the display means, and the alarm and the display aredifferent for each range. Accordingly, a person entering the range inwhich the person detection sensor 70 can detect the person can recognizeeasily what degree the autonomously traveling work vehicle approachesand can perform suitably collision avoiding action corresponding to eachrange.

The cancel switch 75 as a means for canceling the alarm and the displayis provided and connected to the control device 30 so that the alarm andthe display can be canceled optionally. Accordingly, continuation of thealarm because the person is in the first range E1 though the travelingis stopped can be prevented, and when the alarm is continued though theperson in the third range E3 performs the collision avoiding action andwhen the person is detected and the alarm is given wrongly, the uselessalarm can be stopped so as to prevent noise. The cancel switch 75 isprovided in the operation part such as the dashboard of the auxiliarymoving work vehicle 100 and the autonomously traveling work vehicle 1and the remote control device 112.

The camera 42 also can detect an obstacle. An image photted by thecamera 42 is processed by the control device 30 so as to detect ananimal other than a person, and when what is detected is the animal, thesudden stop and the reduction are not performed. Namely, the animal suchas a dog, a cat or a bird escapes normally when the autonomouslytraveling work vehicle 1 approaches, whereby there is almost nopossibility of collision. Rather, by approach of the animal to theautonomously traveling work vehicle 1, the person detection sensor 70may response so that the autonomously traveling work vehicle 1 isreduced or stopped, whereby the work is obstructed. Then, when it isrecognized by the image processing from the camera 42 that the animalenters the first range E1, the second range E2 or the third range E3, asignal from the person detection sensor 70 is canceled so as not toreduce or stop the autonomously traveling work vehicle 1. Otherwise,even when the person detection sensor 70 detects the animal, thetransmission and the brake device are not operated, and an alarm deviceis operated and a head light is turned on so as to threaten the animalOr, when the person detection sensor 70 detects the animal, the image isdisplayed by the display means 49 and the display 113 and thetransmission and the brake device are operated by operation of anoperator.

The processing of image photted by the camera 42 by the control device30 detects a moving object. The moving object is highlighted, and whenthe moving object is larger than a fixed size and smaller than a person,the moving object is judged to be an animal. When the moving object isas large as a little child, the moving object is judged by the operator.

INDUSTRIAL APPLICABILITY

The present invention can be used for a constructional machine or anagricultural work vehicle that a work vehicle works with a satellitepositioning system in a predetermined field.

DESCRIPTION OF NOTATIONS

-   1 autonomously traveling work vehicle-   30 control device-   30 m storage device-   41 obstacle sensor (obstacle detection means)-   49 display means-   76 false notification switch (false notification means)-   112 remote control device-   113 display

1. An autonomously traveling work vehicle comprising: a positioncalculation means positioning a position of a vehicle body by using asatellite positioning system; and a control device making the vehicletravel and work automatically along a set traveling route, characterizedin that an obstacle detection means, an alarm means and a falsenotification means are provided, and when an operator does notrecognizes an obstacle and the false notification means is operatedthough the obstacle is detected and an alarm is given, the controldevice cancels the alarm.
 2. The autonomously traveling work vehicleaccording to claim 1, wherein when number of false notification made bythe false notification means reaches a first set value, the controldevice reduces sensitivity of the obstacle detection means.
 3. Theautonomously traveling work vehicle according to claim 1, wherein afterreducing the sensitivity of the obstacle detection means, when thenumber of false notification made by the false notification meansreaches a second set value, the control device judges as sensor breakageand displays and notifies the breakage.
 4. An autonomously travelingwork vehicle comprising: a position calculation means positioning aposition of a vehicle body by using a satellite positioning system; anda control device making the vehicle travel and work automatically alonga set traveling route, characterized in that an obstacle detectionmeans, an alarm means and a notification failure notification means areprovided, and at a time at which any alarm is not given though anobstacle exists in a detection range of the obstacle detection means,when an operator operates the notification failure notification means,the control device gives an alarm.
 5. The autonomously traveling workvehicle according to claim 4, wherein when the obstacle detection meansdoes not detect any obstacle and sudden braking is performed, thecontrol device judges as notification failure.
 6. The autonomouslytraveling work vehicle according to claim 4, wherein when notificationof the notification failure reaches a third set number, the controldevice raises sensor sensitivity.
 7. The autonomously traveling workvehicle according to claim 4, wherein after raising the sensitivity ofthe obstacle detection means, when a notification failure notificationnumber reaches a fourth set number, the control device judges asbreakage and displays and notifies the breakage.